CN104050808B - Highway communication blockage positioning method for searching - Google Patents
Highway communication blockage positioning method for searching Download PDFInfo
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Abstract
The present invention discloses a kind of highway communication blockage positioning method for searching, be based on the way arrange monitoring system and realize, comprise stop up local range search and stop up point location search two aspects; For visual type, can comprehensive monitoring two monitoring points between the monitoring system of road conditions, adopt and stop up region search pattern; For visual type but can not all monitor the monitoring system of road conditions between two monitorings, and not visible monitoring system, adopt and stop up point location search pattern. Stop up point location search pattern, refer to that the vehicle flowrate data fitting of several monitoring points, minimum vehicle flowrate upstream that monitoring system is obtained becomes a upstream flowrate curve; The vehicle flowrate data fitting of several monitoring points, minimum vehicle flowrate downstream being become to a downstream flow curve, ask for the intersection point of two curves, is to stop up point. Method provided by the present invention can accurately be located the specified place of traffic jam, accident, and the especially blind area between monitoring point, can also overcome the impact of sleety weather.
Description
Technical field
The invention belongs to technical field of traffic control, especially in regard to the early warning processing of traffic accident,Specifically refer to the method that highway communication blockage positioning is searched.
Background technology
Traffic jam has a strong impact on people's normal trip and operating efficiency, from statistics, sends outIt is large that the reason of raw traffic jam is all generally that vehicle flowrate has occurred in this location, especially traffic accidentCause. Traffic accident refer to road vehicle on road because of mistake or the unexpected person wound that causesDie or the event of property loss. In worldwide, road traffic accident has become societyOne large public hazards of meeting. Traffic accident conventionally can cause that a passage is blocked up, cause traffic not smooth, trafficBlock if management platform can promptly and accurately be known the position occurring, can judge that this area mayThere is accident potential or occurred, can send early police strength to dredge, avoid to scene to hand overThe further deterioration of interpreter's event.
Promptly and accurately locate road traffic jam position, for road traffic commanding and decision-making, raisingThe security of traffic, and for probe into road traffic accident pests occurrence rule, analyze existing roadUnder the transportation condition of road, the future developing trend of traffic accident has very important meaning.
Traffic monitoring platform mainly still relies on manual retrieval and differentiation at present, passes through command centreLarge-size screen monitors are found traffic accident. The workload of this task very greatly, very arduous, and long-timeWork can cause people's fatigue, accuracy rate to decline. Therefore traffic administration monitor supervision platform needs certainly a kind ofMoving searching method coordinates with it, run on automatically auxiliary traffic police on the computer of platform find,Location traffic jam point.
The prerequisite that operation traffic monitoring platform stops up some automatic search has two kinds, and the one, set up monitoringWebsite, carries out traffic events Real-Time Monitoring; The 2nd, set up in short-term and hand over according to the traffic flow characteristics of motionLogical forecast model, by contrast predict the outcome and actual traffic parameter between difference determine and beNo have traffic accident or a traffic jam.
Traffic events Real-Time Monitoring belongs to fixed point monitoring, refers to and sets up multiple monitoring points, and system is logicalCross Video processing and automatically complete traffic events monitoring, as contrary in found stagnation of movement, vehicle at monitoring stationRow, abandon, pedestrian detection, Slow Down, traffic congestion, track of vehicle be abnormal, collide,Fire, smog etc., all can be used as the foundation of judgement. But this method is affected by weather conditionsVery large, the effective detection distance in the bad weathers such as sleet mist can significantly decline; And needSet up multiple monitoring points (spacing is very near) guarantee without the undetected survey in road surface, to cause buildingBe set as this very high.
Prediction of short-term traffic volume depends on sets up accurate Mathematical Modeling, state to the traffic flow characteristics of motionInside and outside carry out many-sided research for road Traffic Accident Prediction, proposed some accident forecastsMethod, mainly contains: the method based on lineary system theory, the model of mind based on Knowledge DiscoveryMethod, the method based on nonlinear system theory. Wherein research is relatively early also many isBased on the Forecasting Methodology of lineary system theory, carry out according to the traffic flow modes vector of current periodSingle-step Prediction, obtains predicting the outcome of next period. Record predicted value simultaneously, set it asThe basis of next step prediction, so circulation. Conventional mainly contain historical consensus forecast method, timeBetween sequence prediction method, Kalman prediction method etc. These methods need to depend on handing overThe through-flow characteristics of motion is set up accurate Mathematical Modeling, and still, the essence of traffic flow is a kind of chaosMotion, is difficult to use accurate model description, even normal traffic transport condition is also difficult to doTo very accurately describing. Therefore determine the position of traffic accident based on prediction of short-term traffic volume methodPrecision may be affected, and prediction of short-term traffic volume only can judge in section, whether there is trafficAccident, can not locate concrete place where the accident occurred point. It is higher that traffic accident is mainly in speed limitHighway.
Summary of the invention
Therefore the problem of stopping up point location difficulty for transport solution, the invention provides one and runs onThe highway communication of point duty platform is stopped up searching and locating method. The method can be two monitoring pointsBetween observation blind area determine traffic jam point.
For achieving the above object, the present invention takes following technical scheme: a kind of highway communication is stopped upPositioning searching method, based on the way arrange monitoring system and realize, comprise obstruction local range searchSearch two aspects with obstruction point location; For the prison between visual type, adjacent two monitoring pointsContain the monitoring system of all road conditions of point-to-point transmission depending on scope, adopt and stop up region search pattern;Supervision scope for visual type but between adjacent two monitoring points can not contain all of point-to-point transmissionThe monitoring system of road conditions, and not visible monitoring system, adopt and stop up point location search pattern.
Described visual monitoring system comprises video device; Described not visible monitoring system comprises underground lineCircle, microwave remote sensor.
Described obstruction region search pattern, refers to all vehicle flowrates that obtain in monitoring point is carried outContrast, finds minimum of a value, the concrete position of stopping up according to the picture judgement of monitoring point, minimum of a value placePut.
Described obstruction point location search pattern, refers on the minimum vehicle flowrate that monitoring system is obtainedThe vehicle flowrate data of swimming several monitoring points become a upstream flowrate song by least square fittingLine; The vehicle flowrate data of several monitoring points, minimum vehicle flowrate downstream are passed through to least square fittingBecoming a downstream flow curve, ask for the intersection point of two curves, is to stop up point.
The circular of fitted flow discharge curve is as follows: taking that monitoring point of minimum vehicle flowrate asSeparation, upstream searches one section of monitoring point set that flow obviously declines, and set is one twoDimension matrix, does not comprise separation, and one to classify position, monitoring point coordinate, another row as be that monitoring point is surveyedFlow, taking the parameter transformation severe degree of fitting a straight line as criterion, difference is greater than thresholdWhen value, stop search, then this data acquisition system is carried out to least square fitting and try to achieve upstream flowrateDecline curve; Be expressed as by Mathematical Modeling: Y=XH,
In formula, Y=[y2,y3,Λ,ym]TBe 2,3, Λ, the flow that m monitoring point records, Be 2,3, Λ, m monitoring point is apart from the position of separation,H＝[a,b]TFor the parameter of fitting a straight line, according to least squares theory, parameter vector [a, b]TCan solve by following formula:
H＝(XTX)-1(XTY)
Increase successively monitoring point towards upstream direction, n progressively increases, and constantly calculates newParameter vector [an,bn]T, as [a asking for for the n timen,bn]TWith ask for for the n-1 time[an-1,bn-1]TWhen difference is greater than threshold value, stop increasing monitoring point, the mathematical notation of difference is:
ε＝([an,bn]-[an-1,bn-1])·([an,bn]-[an-1,bn-1])T
Therefore, to from 2, Λ, n-1 the parameter vector [a that data of monitoring point obtains2,n-1,b2,n-1]TCan form a comparatively straight line for matching of curve declining with actual upstream flowrate:
yi＝a2,n-1xi+b2,n-1；
After the same method, can try to achieve the fitting a straight line that downstream flow rises;
Article two, line intersection point is exactly traffic jam point.
The present invention is owing to taking above technical scheme, and it has the following advantages: 1, institute of the present inventionThe method providing can overcome these the boisterous impacts of sleet mist, accurately locates traffic and blocks upSpecified place, the especially blind area between monitoring point of plug, traffic accident. 2, the method is suitableThe measurement that is video frequency monitoring system for monitoring point, is also applicable to the sensing such as ground buried coil, microwaveThe measurement of the monitoring system that device forms, can also compatible video and common ground traffic sensor twoThe measurement of aspect information.
Brief description of the drawings
Fig. 1 is that highway communication is stopped up searching and locating method flow chart.
Fig. 2 is the flow curve by the obstruction point upstream and downstream of least square fitting.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in detail.
The present invention can determine traffic jam point in the observation blind area between two monitoring points, especiallyBe applicable to the interval of monitoring point when very large. Monitoring system used, can be video frequency monitoring system,Also can be the monitoring system that the sensors such as ground buried coil, microwave form, also can compatible videoInformation and common ground traffic sensor information.
As everyone knows, the feature of bottleneck area is that available road surface narrows, and the speed of a motor vehicle is slack-off. On bottleneck areaTrip there will be the slow phenomenon of car multiple speed, downstream to there will be the few fireballing phenomenon of car. Bottleneck areaRoad speed approach upstream and vehicle fleet size approaches downstream. Therefore equal vapour according to vehicle flowrateThe fundamental relation of this traffic of product of car quantity and road speed, the vehicle flowrate of blocked-off region shouldThis minimum, the vehicle flowrate of upstream and downstream all can be higher than bottleneck area.
Therefore this method will be found and stop up point based on this feature, and finding method comprises two aspect lettersBreath processing links: 1) stop up local range search, 2) obstruction point location. Can use obstruction region to searchThe method of seeking searches obstruction region (section), just uses congested areas search method, is not suitable for resistancePlug local range search method, then enable choke point positioning mode. Handling process as shown in Figure 1.
1) method of obstruction local range search
In monitoring point, monitoring modes such as () video monitoring or ground buried coil, microwaves obtains by allVehicle flowrate contrast, search minimum of a value.
If adopt video monitoring, can automatically recall the picture of monitoring point, flow minimum of a value placeThe monitor staff of face, notice traffic monitoring platform observes. Adopt in video monitoring situation, divide againBe two kinds of situations:
If stop up point in visual monitoring range, manual observation can judge the concrete of traffic congestionPosition;
If stop up point not in the viewing area between two monitoring points (in traffic accident thisKind of situation often occurs because the spacing of video monitoring all hundreds of rice even go up km betweenEvery, the staff of point duty platform cannot observe and stop up point), accurate location nowJust need to start second information processing link: location, choke point, see following.
If adopt the device monitorings such as ground buried coil, microwave, because the work of point duty platformPersonnel cannot observe on-the-spot picture, so directly enter second information processing link: resistancePlug point location.
2) stop up independent positioning method
The feature of stopping up point is that the vehicle flowrate of upstream and downstream all will be higher than stopping up point. This flow becomesIt is wavy that the communication process of changing presents impact. What upstream spread is called parking ripple, the impact of traffic congestionApproach gradually and strengthen with distance, what spread downstream is called starting ripple, and the impact of traffic congestion is with distanceStrengthen and successively decrease gradually. That is to say that vehicle flowrate is less the closer to stopping up point; Get over away from stopping up point,Vehicle flowrate is larger. Infer according to this rule, if a certain monitoring point is nearer apart from stopping up point, prisonThe vehicle flowrate that measuring point detects is less; Monitoring point is far away apart from accident point, and monitoring point detectsVehicle flowrate is larger. Therefore, our position taking abscissa (x axle) as monitoring point, vertical seatMark (y axle) is vehicle flowrate, and when traffic congestion, to approach obstruction point less for vehicle flowrate, vehicle flowrate and prisonThe variation of point position is approximate V word shape and changes. Establishing of highway communication blockage positioning method for searchingMeter target is exactly that point is stopped up in automatic analysis traffic data, location.
Consider that traffic police can be by position, visual correction choke point, algorithm positioning accurate after being on the sceneDegree is made as hundred meters, and we are by two by the curve approximation abbreviation of V word shape in this caseStraight line intersection forms, and therefore can select the vehicle flowrate of several monitoring points, minimum vehicle flowrate upstream logicalCross upstream flowrate decline straight line of least square fitting, select the car of several monitoring points, downstreamFlow is by downstream flow rising straight line of least square fitting. Article two, straight line forms V wordShape, their intersection point is choke point, as shown in Figure 2.
Fitting algorithm overall process is:
Described highway communication is stopped up searching and locating method taking minimum vehicle flowrate monitoring point as boundaryPoint, the section taking highway entrance to separation is upstream, the section with separation to highway outletFor downstream. The curve of V word shape can launch respectively in upstream and downstream in this case.
First ask for the flow decline curve of upstream, need to filter out belong to upstream flowrate declineMonitoring point. Decline the closer to a upstream flowrate that stops up some place more obvious, can be first from separation toUpdrift side is searched significantly that section of monitoring point set of flow decline.
Start to insert successively the data fitting flow decline curve of each monitoring point from separation,Mathematical Modeling is:
Be converted to vector sum matrix form:
Y＝XH
In formula, Y=[y2,y3,Λ,ym]TBe 2,3, Λ, the flow (1 that m monitoring point recordsNumber be separation, algorithm is from No. 2 monitoring points of next-door neighbour separation upstream), Be 2,3, Λ, m monitoring point is apart from the position of starting point,H＝[a,b]TFor the parameter of fitting a straight line. According to least squares theory, parameter vector [a, b]TCan solve by following formula:
H＝(XTX)-1(XTY)
Increase successively monitoring point towards upstream direction, n progressively increases, and constantly calculates newParameter vector [an,bn]T. As [a asking for for the n timen,bn]TWith ask for for the n-1 time[an-1,bn-1]TWhen difference is greater than threshold value, stop increasing monitoring point, the mathematical notation of difference is:
ε＝([an,bn]-[an-1,bn-1])·([an,bn]-[an-1,bn-1])T
Therefore, to from 2, Λ, n-1 the parameter vector [a that data of monitoring point obtains2,n-1,b2,n-1]TCan form one with the comparatively straight line of matching of actual upstream flowrate decline curve:
yi＝a2,n-1xi+b2,n-1
Also can extract in the same way 2,3 of downstream, Λ, l-1 data of monitoring point(being in like manner made as separation No. 1), can form one with actual downstream flow ascending curveStraight line for matching:
yj＝c2,l-1xj+d2,l-1
Article two, the intersection point (x of straight linei,yi) ask for according to the following formula:
(xi,yi) be obstruction point. Calculate after this location point, can know which it supervise apart fromThe position of measuring point is nearest. Test result shows that position error is less than 200 meters, and traffic police arrives in obstructionPoint is afterwards by the visual exact position that can determine the scene of a traffic accident.
Embodiment
The 2003rd kilometer to 2015 kilometers sections of Shen Hai highway, 12 kilometers of total lengths, for continuouslyLong descending, the gradient is large, bend is many, road surface is narrow, and traffic accident easily occurs. In management platformThe middle highway communication that has used the present invention's design is stopped up independent positioning method, and video is passed through in information gatheringMonitoring realizes. When project testing, this section (cover A B road) is at interval of 1000 meters of left sidesThe right side has set up a pair of high-definition night-viewing monopod video camera to carry out video monitoring. Monitoring range is each around1000 meters, every corresponding road video detector of high-definition camera carries out automatic video frequency analysis (inspectionSurveying region is left and right each 300 meters).
Under the good condition of weather conditions, monitor supervision platform only needs to use highway communication to stop up and searchesCongested areas method for searching in localization method can complete traffic accident location. First determine flowThe monitoring point of minimum (acutely decline), then recalls the picture of this point, notice traffic prison automaticallyMonitor staff in pipe platform observes the particular location of determining traffic accident.
Under the severe condition of weather conditions, the supervision of video camera is limited in scope, and monitor staff observesBe difficult to effectively observe road conditions. After determining that the monitoring point of flow minimum (acutely declining) is determined,Start choke point localization method: select the vehicle flowrate of these several monitoring points, upstream, monitoring point to pass throughUpstream flowrate decline straight line of young waiter in a wineshop or an inn's multiplication matching; Select the vehicle flowrate of several monitoring points, downstreamBy downstream flow rising straight line of least square fitting, two straight-line intersections are to stop upPoint.
Test result shows that position error is less than 200 meters, and traffic police arrives in after the obstruction point of location,By the visual exact position that can determine the scene of a traffic accident.
Claims (3)
1. a highway communication blockage positioning method for searching, based on the monitoring system arranging on the wayAnd realize, it is characterized in that: comprise and stop up local range search and stop up point location and search in two aspectsHold; Contain all roads of point-to-point transmission for the supervision scope between visual type, adjacent two monitoring pointsThe monitoring system of condition, adopts and stops up region search pattern; For visual type but adjacent two monitoringSupervision scope between point can not contain the monitoring system of all road conditions of point-to-point transmission, and can notDepending on monitoring system, adopt and stop up point location search pattern;
Described obstruction region search pattern, refers to all vehicle flowrates that obtain in monitoring point is carried outContrast, finds minimum of a value, the concrete position of stopping up according to the picture judgement of monitoring point, minimum of a value placePut;
Described obstruction point location search pattern, refers on the minimum vehicle flowrate that monitoring system is obtainedThe vehicle flowrate data of swimming several monitoring points become a upstream flowrate song by least square fittingLine; The vehicle flowrate data of several monitoring points, minimum vehicle flowrate downstream are passed through to least square fittingBecoming a downstream flow curve, ask for the intersection point of two curves, is to stop up point.
2. highway communication blockage positioning method for searching according to claim 1, its featureBe: described visual monitoring system comprises video device; Described not visible monitoring system comprises buriedCoil, microwave remote sensor.
3. highway communication blockage positioning method for searching according to claim 1, its featureBe: the circular of fitted flow discharge curve is as follows: with that monitoring point of minimum vehicle flowrateFor separation, upstream search one section of monitoring point set that flow obviously declines, set is oneTwo-dimensional matrix, does not comprise separation, one classifies position, monitoring point coordinate as, another row are monitoring pointsThe flow recording, taking the parameter transformation severe degree of fitting a straight line as criterion, difference is greater thanWhen threshold value, stop search, then this data acquisition system is carried out to least square fitting and try to achieve upstream flowAmount decline curve; Be expressed as by Mathematical Modeling: Y=XH,
In formula, Y=[y2,y3,Λ,ym]TBe the 2nd, 3, Λ, the flow that m monitoring point records, Be the 2nd, 3, Λ, m monitoring point is apart from the position of separation,H＝[a,b]TFor the parameter of fitting a straight line, according to least squares theory, parameter vector [a, b]TCan solve by following formula:
H＝(XTX)-1(XTY)
Increase successively monitoring point towards upstream direction, n progressively increases, and constantly calculates newParameter vector [an,bn]T, as [a asking for for the n timen,bn]TWith ask for for the n-1 time[an-1,bn-1]TWhen difference is greater than threshold value, stop increasing monitoring point, the mathematical notation of difference is:
ε＝([an,bn]-[an-1,bn-1])·([an,bn]-[an-1,bn-1])T
Therefore, to from 2, Λ, n-1 the parameter vector [a that data of monitoring point obtains2,n-1,b2,n-1]TCan form a comparatively straight line for matching of curve declining with actual upstream flowrate:
yi＝a2,n-1xi+b2,n-1
After the same method, can try to achieve the fitting a straight line that downstream flow rises,
Article two, line intersection point is exactly traffic jam point.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104915726B (en) * | 2015-05-11 | 2018-07-13 | 四川汇源吉迅数码科技有限公司 | A kind of vehicle flowrate data library generating method divided based on timeslice |
| CN108701334B (en) * | 2016-03-03 | 2022-08-26 | 三菱电机株式会社 | Congestion prediction device and congestion prediction method |
| CN106781477A (en) * | 2016-12-22 | 2017-05-31 | 东莞华南设计创新院 | A kind of highway information intelligence system |
| CN106781496A (en) * | 2017-01-04 | 2017-05-31 | 安徽科力信息产业有限责任公司 | Alleviate the method and system of urban traffic blocking based on public safety traffic management technology |
| CN106504538A (en) * | 2017-01-04 | 2017-03-15 | 安徽科力信息产业有限责任公司 | A kind of quick elimination causes the method and system in highway congestion source |
| CN106504539A (en) * | 2017-01-04 | 2017-03-15 | 安徽科力信息产业有限责任公司 | A kind of method and system of quick determination highway congestion source position |
| CN107146405A (en) * | 2017-01-23 | 2017-09-08 | 北京博研智通科技有限公司 | Obtain the method and system for the coefficient that is precisely obstructed |
| CN114926988B (en) * | 2022-07-22 | 2022-09-30 | 山东高速信息集团有限公司 | Road congestion dispersion method and equipment |
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